CN111164456B - Prompted automotive sensor fusion - Google Patents

Abstract

Methods and systems for remote detection of objects involving sensor fusion of cues. In some implementations, the first set of sensed data can be generated using a first object sensor, and the second set of sensed data can be generated using a second object sensor. Objects can then be detected using the sensing data from the first object sensor. When an object is detected using sensing data from the first object sensor, settings associated with the second object sensor may be changed to increase the likelihood that the object is detected using the second set of sensing data from the second object sensor.

Description

Tips for Automotive Sensor Fusion

Contents of the invention

Object-level fusion is often used in conjunction with sensor systems to detect remote objects from the host vehicle. With this type of architecture, data from a first sensor can be combined with data from a second sensor to provide more information to identify and track objects. This type of architecture can also allow the combination of sensors as a "black box". In other words, instead of detection-level fusion, which may require extensive tuning and tuning of detection and/or tracking modules for every possible combination of sensors, sensors can be combined and used together in essentially a plug-and-play type architecture. However, this object-level fusion will fail if one sensor cannot identify the target. In other words, with typical object-level fusion, if one sensor cannot recognize an object recognized by another sensor, the system's fused tracker or fused tracking module will have no data from one sensor to combine and use to track the object.

Accordingly, the present inventors have determined that it would be desirable to provide systems and methods that overcome one or more of the foregoing limitations and/or other limitations of the prior art. Thus, in some embodiments, the inventive concepts disclosed herein may be used to provide a suggested fusion architecture, which for the purposes of this disclosure may be considered a modified object-level fusion architecture. In some embodiments, a cue from a first sensor may be used to trigger one or more setting or parameter changes (such as operating in a special mode) to a second sensor to increase the likelihood of detection by the second sensor.

For example, in some embodiments, one or more thresholds of a second sensor, such as a detection threshold and/or a tracker threshold, may be lowered in response to a first sensor detecting an object. The change may be temporary and/or may be only in the direction or general direction (eg, within an angular range) of the object detected by the first sensor. Thus, special modes of operation may lower the detection threshold and/or require fewer consistent detections to maintain tracking. Preferably, this does not require any physical rotation of the second sensor. This may provide an increased likelihood of the second sensor detecting an object without increasing the likelihood of false alarms/detections by the second sensor. For example, in embodiments where the special mode operates only for a relatively short period of time and/or within a relatively small spatial region (corresponding to objects detected by the first sensor), the overall false alarm rate should remain Constant, or possibly only a slight increase over relatively small windows of time and/or angles, and thus providing a negligible increase in the overall false alarm rate while increasing the true false alarm rate for the target of interest.

Advantageously, some embodiments can be configured to retain the black box advantages of object-level sensor fusion, in other words, sensors can be combined without extensive custom tuning/tuning. In some embodiments, sensors can be put together in a plug-and-play fashion without any such customization.

In a more specific example of a method for detecting objects within a host vehicle according to some implementations, the method may include using a first object sensor (such as a radar sensor, vision sensor/camera, lidar sensor, etc.) to generate 1. Receive and/or transmit the first set of sensing data. The method may further include generating, receiving and/or transmitting a second set of sensory data using a second object sensor. In preferred embodiments and implementations, the first object sensor may be different from the second object sensor to allow the advantages of different sensor technologies to be combined. Objects or suspicious objects may then be detected using the sensed data from the first object sensor. When an object is detected using sensing data from a first object sensor, the settings associated with the second object sensor can be changed to place the second object sensor in a special mode to increase the use of the second object sensor from the second object sensor. The likelihood of an object being detected by the group sensing data.

In some implementations, changing a setting associated with the second object sensor to increase the likelihood of detecting an object using the second set of sensing data from the second object sensor can include changing a threshold of the second object sensor such as Lower the threshold of the second object sensor. In some such implementations, changing a setting associated with the second object sensor to increase the likelihood of an object being detected using the second set of sensing data from the second object sensor can include changing the remote object detection and/or At least one of the detection threshold of the detection module of the tracking system and the tracking threshold of the tracker or tracking module, in some such implementations, changing a setting associated with the second object sensor to increase the use of The second set of sensing data may include varying at least one of a signal-to-noise ratio of the detection module and a threshold of the tracking module for initiating or maintaining tracking of an object detected by the detection module.

Some implementations may also include, when an object is detected using sensing data from the second object sensor, changing a setting associated with the first object sensor to increase detection using the first set of sensing data from the first object sensor. to the possibility of the object.

In an example of a system for remotely detecting objects from within a host vehicle according to some embodiments, the system may include a first object sensor configured to receive a first set of sensed data and a second set of sensed data configured to receive data from the second object sensor. As previously stated, preferably the object sensors are of different types, furthermore it should be understood that more than two such object sensors may be used in some embodiments or in any method/implementation disclosed herein. The system may also include an object detection module configured to receive data from the first object sensor. The object detection module may be configured to identify a remote object from within the host vehicle using data from the first object sensor and/or the second object sensor, and detect the Upon arrival of the object, a setting associated with the second object sensor is changed to increase the likelihood that the object detection module will detect the object using data from the second object sensor.

In some embodiments, the object detection module may be part of a first sensor module that includes a first object sensor. In some such embodiments, the first sensor module may also include a first tracking module configured to receive processed data from the object detection module to track remote objects identified by the object detection module.

Some embodiments may also include a second sensor module. The second object sensor may be part of the second sensor module. The second sensor module may also include a second object detection module configured to receive data from the second object sensor. The second object detection module may be configured to use data from a second object sensor to identify a remote object from within the host vehicle, and in some embodiments, the second sensor module may also include a second tracking module that is tracked by configured to receive processed data from the second object detection module to track a remote object identified by the second object detection module.

Some embodiments may also include a fused tracking module configured to receive data from both the first tracking module and the second tracking module to track objects detected by both the first tracking module and the second tracking module .

In some embodiments, the system can be configured to lower the detection threshold and the tracker threshold associated with the second object sensor when the object detection module detects an object using the first set of sensing data from the first object sensor at least one of , to increase the likelihood of an object being detected using data from the second object sensor. Similarly, some embodiments may be configured to lower at least one of the detection threshold and the tracker threshold associated with the first object sensor when the object detection module detects an object using the second set of sensing data from the second object sensor. or to increase the likelihood of an object being detected using data from the first object sensor.

In some embodiments, the system can be configured to: when an object is detected by the object detection module using the first set of sensing data from the first object sensor, reduce the At least one of a detection threshold and a tracker threshold associated with the second object sensor.

In another example of a system for remotely detecting an object from within a host vehicle, the system may include a first object sensor configured to receive a first set of sensory data and a second sensor sensor configured to receive a second set of sensory data. Two object sensors. Likewise, the first object sensor may include a different type of object sensor than the second object sensor. Thus, in some embodiments, the first object sensor may include a camera and the second object sensor may include a radar sensor.

The system may also include a first object detection module configured to receive raw data from the first object sensor. The first object detection module may be configured to attempt to identify a remote object using raw data from the first object sensor. The system may also include a second object detection module configured to receive raw data from the second object sensor. The second object detection module may be configured to attempt to identify a remote object using raw data from the second object sensor.

The system may also include: a first tracking module configured to receive processed data from the first object detection module to track a remote object identified by the first object detection module; a second tracking module that The second tracking module is configured to receive the processed data from the second object detection module to track the remote object identified by the second object detection module.

The system may also include a fused tracking module configured to receive data from both the first tracking module and the second tracking module to track objects detected by both the first tracking module and the second tracking module.

The system for remote detection may be configured to lower the detection threshold of the second object detection module and the tracker of the second tracking module upon confirmation that at least one of the first object detection module and the first tracking module detected the object At least one of the thresholds to increase the likelihood of an object being detected using data from the second object sensor.

In some embodiments, the system may be further configured to: upon confirmation that at least one of the first object detection module and the first tracking module has detected an object, decrease the detection threshold and the tracker threshold associated with the radar sensor to increase the likelihood of an object being detected using data from the radar sensor.

In some embodiments, the system for remote detection can be configured to: when at least one of the first object detection module and the first tracking module detects an object, only when the object detected by the camera/first sensor Within an associated region, such as at an angle or range of angles associated with objects detected by the camera, at least one of a detection threshold and a tracker threshold associated with the radar sensor is decreased.

Features, structures, steps or characteristics disclosed herein in connection with one embodiment may be combined in any suitable manner in one or more alternative embodiments.

Description of drawings

Non-limiting and non-exhaustive embodiments of the present disclosure are described, including various embodiments of the disclosure with reference to the accompanying drawings, in which:

1 is a schematic diagram depicting an example of a system for remotely detecting objects from within a host vehicle, according to some embodiments;

2 depicts a vehicle detecting an object having a system for remotely detecting an object from within a host vehicle, according to some embodiments;

FIG. 3 depicts another vehicle having a system for remotely detecting objects according to other embodiments; and

4 is a flowchart depicting an example of a method for remotely detecting objects within a host vehicle, according to some implementations.

Detailed ways

A detailed description of devices, systems, and methods consistent with various embodiments of the present disclosure is provided below. While several embodiments have been described, it should be understood that this disclosure is not limited to any particular embodiment disclosed, but instead covers numerous alternatives, modifications, and equivalents. Additionally, although numerous specific details are set forth in the following description in order to provide a thorough understanding of the embodiments disclosed herein, some embodiments may be practiced without some or all of these details. Also, for the purpose of clarity, certain technical material that is known in the related arts has not been described in detail to avoid unnecessarily obscuring the present disclosure.

Devices, methods, and systems are disclosed herein that relate to new methods and systems for combining sensor data in remote object detection. In some embodiments, the inventive principles disclosed herein can be used to allow two or more sensors to be combined together in such a way that each sensor is a black box and does not require extensive modification/customization to fuse its data. This can be accomplished by using a trigger from one sensor to signal a change in the operating mode of one or more other sensors. So, for example, a radar sensor that detects an object could be used as a trigger to temporarily change the camera's mode of operation in order to increase the likelihood that the camera will also detect an object. Similarly, in some embodiments, a camera or other sensor that detects an object can be used as a trigger to temporarily change the operating mode of a radar sensor or other second sensor in order to increase the likelihood that the radar sensor or other second sensor will detect the object . This reduces the probability of a sensor missing an object compared to conventional object-level fusion.

As a more specific example of an implementation where the visible light sensor/camera may cue the radar sensor, in some systems the camera may require about six frames to declare a target. However, the system can be configured such that the camera can declare a target after fewer frames (eg, after a single frame in some cases), but with a lower figure of merit. Accordingly, some systems according to certain embodiments utilizing the principles disclosed herein may be configured to use a lower figure of merit threshold to cue a radar sensor. By the time the radar sensor has formed a track, the camera may have improved the figure of merit of its track. The fused tracking module can then be configured to ignore the lower quality initial object data from the camera until a higher quality track is obtained from the camera. In this way, the remote object detection system can be configured to utilize a lower detection threshold via the camera or another first sensor, and use a special mode of operation to cue the radar sensor to detected objects more quickly. This may allow for greater determination of potential objects/targets before confirming the track and/or sending the data to a fusion tracker or tracking module.

Embodiments of the present disclosure are best understood by referring to the drawings, wherein like parts are designated by like numerals. It will be readily understood that the components of the disclosed embodiments may be arranged and designed in various configurations, as generally described and illustrated in the drawings herein. Accordingly, the following detailed descriptions of embodiments of the apparatus and methods of the present disclosure are not intended to limit the scope of the claimed disclosure, but merely represent possible implementations of the disclosure, and, unless otherwise stated, steps of the methods are not It definitely needs to be done in any particular order, and it doesn't even have to be sequential, and the steps don't have to be done just once. Additional details regarding certain preferred embodiments and implementations will now be described in greater detail with reference to the accompanying drawings.

FIG. 1 depicts a schematic diagram of a system 100 for remotely detecting objects from within a host vehicle. As depicted in the figure, system 100 includes a first object sensor module 110 that includes a first sensor 112 . The first object sensor module 110 also includes a first object detection sub-module 120 configured to receive a first set of raw sensing data from the first sensor 112 . The first object sensor module 110 also includes a first tracking sub-module 130 configured to receive processed data from the first object detection module 120 to track the first object detection module 120 using data from the first sensor 112 remote objects identified from the raw data.

Similarly, system 100 includes a second object sensor module 150 that includes a second sensor 152 . The second object sensor module 150 also includes a second object detection sub-module 160 configured to receive a second set of raw sensing data from the second sensor 152 . The second object sensor module 150 also includes a second tracking sub-module 170 configured to receive processed data from the second object sensor module 150 to track the second object sensor module 150 using data from the second sensor 152 remote objects identified from raw data.

One or both of object sensor modules 110 and 150 may be configured to detect and/or track one or more sets of data representative of identified objects, such as objects 115 and 155 , respectively. These objects from modules 110 and 150 can then be combined using a fused tracking module 180, which can be configured to receive data from the first tracking module 130 or otherwise from the first object sensor module 110 and from the second tracking module 170 or Data is additionally received from the second object sensor module 150 to track one or more objects detected by both the first sensor module 110 and the second sensor module 150 . Fused tracking module 180 may then be configured to fuse these tracked objects and process the combined data to arrive at one or more fused objects 185 . Thus, system 100 is an example of a modified version of an object-level fusion system.

However, unlike known object-level fusion systems, the system 100 is configured to change an operating parameter of the other of the sensor modules 110 and 150 in response to one of the sensor modules 110 and 150 identifying an object. Thus, as indicated by the arrows in FIG. 1 , upon detection of an object 115 by the first sensor module 110, the system 100 may be configured to change the second sensor module 150 (such as one of the detection module 160 and the tracking module 170 or One or more operational parameters for both).

Accordingly, in some embodiments, system 100 may be configured to lower the detection threshold of second detection module 160 and the tracker threshold of second tracking module 170 to increase the detection of objects by sensor 112 and/or sensor module 110 using data from The probability that the data of the second object sensor 152 and/or the second sensor module 150 is detected.

To provide a more specific example, in some embodiments, sensors 112 and 152 may be different from each other. For example, sensor 112 may include a camera, and sensor 152 may include a radar sensor, and in some such embodiments, system 100 may be configured to reduce contact with radar sensor 152 and At least one of a detection threshold and a tracker threshold associated with/or module 150 to increase the likelihood that an object detected by camera 112 is also detected using data from radar sensor 152 .

So, as a more specific example, if a detection module is configured to apply a detection threshold based on the signal-to-noise ratio ("SNR") to establish object detection, this SNR can be temporarily reduced after another sensor's detection module detects an object threshold. Similarly, in some embodiments, instead of or in addition to applying a detection threshold reduction, a tracking threshold reduction may be applied. Thus, for example, if the tracking module is configured to apply a threshold for establishing tracking (4/4 tracker) based on detection of objects in four consecutive cycles, this threshold may be temporarily lowered to, for example, a 3/3 tracker. In some embodiments, the change/changes may be temporary and may involve additional thresholds, such as time thresholds. Such thresholds may vary as desired depending on the desired error rate of the system.

In some embodiments, both sensor modules 110/150 may be configured to change the settings of the other module/sensor when an object is detected. Thus, with respect to the embodiment depicted in FIG. 1 , module 150 may also or alternatively be configured to alter one or more operating parameters of module 110 upon detection of an object to increase the likelihood that module 110 will detect and/or track the same object sex.

In some embodiments, one or both sensor modules 110/150 may be configured to apply a setting change to the other module, which may only be applied at certain angles or within a certain range of angles. Thus, for example, if a camera detects an object at an angle of thirty degrees relative to the host vehicle in a given direction, the radar sensor may be configured to lower the detection threshold at that angle or within a desired range of that angle for a predetermined amount of time. For example, if the detection threshold is 18dB SNR, the threshold can be lowered to 15dB SNR for 100ms at or about 30 degrees. Additionally or alternatively, the radar may lower the tracking threshold. So, for example, the tracking threshold could be temporarily lowered from 4/4 to 3/3. In some embodiments, one or more settings of a non-detecting sensor/module may only be adjusted at an angle or range of angles associated with a detected object.

FIG. 2 depicts a host vehicle 200 including a system for remotely detecting objects, according to some embodiments. As depicted in this figure, vehicle 200 may include two separate sensors and two corresponding sensor modules, as described above. Accordingly, the first sensor module 210 may include a radar sensor 212 and the second sensor module 250 may include a camera 252 . Thus, as described above, upon detection of an object, such as a pedestrian 10, by one of the radar sensor 212 and the camera 252, the system may be configured to temporarily change one or more settings of the non-detection sensor/module to increase the non-detection Detect the likelihood that the sensor/module detects the pedestrian 10 .

FIG. 3 depicts another vehicle 300 including a system 305 for remotely detecting objects within the vehicle 300 , according to some embodiments. System 310 includes a first object sensor module 310 . The first object sensor module 310 includes a first sensor 312 , a detection module 320 and a tracking module 330 . Similarly, system 305 includes a second object sensor module 350 including a second sensor 352 , a second object detection module 360 and a second tracking module 370 .

Detection modules 320/360 are configured to receive raw sensory data from sensors 312/352, respectively, and attempt to use such data to identify/detect remote objects. Similarly, tracking modules 330/370 are configured to receive processed data from detection modules 320/360, respectively, to track remote objects identified by detection modules 320/360 using raw data from sensors 312/352.

System 305 also includes a controller 340, which may be configured to process data from sensors 312/352. As used herein, the term controller refers to a hardware device comprising a processor and preferably also memory elements. The memory may be configured to store one or more of the modules referenced herein, and the controller 340 and/or the processor may be configured to execute the modules to perform one or more processes described herein.

As used herein, a software module or component may comprise any type of computer instructions or computer-executable code residing in a memory device and/or machine-readable storage medium. A software module may, for example, comprise one or more physical or logical blocks of computer instructions organized as routines, programs, objects, components, data structures, etc. to perform one or more tasks or implement particular abstract data types.

In some embodiments, a particular software module may include different instructions stored in different locations of the memory device, which together implement the described functionality of the module. Indeed, a module may comprise a single instruction, or many instructions, and may be distributed over several different code segments, between different programs and across several memory devices. Some embodiments may be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, software modules may be located in local and/or remote memory storage devices. Additionally, data bound or presented together in a database record may reside in the same memory device or across several memory devices, and may be linked together across a network in record fields in the database.

Furthermore, the embodiments and implementations of the invention disclosed herein may include various steps that may be embodied in machine-executable instructions executed by a general purpose or special purpose computer (or other electronic device). Alternatively, steps may be performed by hardware components including specific logic for performing the steps, or by a combination of hardware, software, and/or firmware.

Embodiments and/or implementations may also be provided as a computer program product comprising a machine-readable storage medium having stored thereon instructions that may be used to program a computer (or other electronic device) to perform the described process. Machine-readable storage media may include, but are not limited to, hard drives, floppy disks, optical disks, CD-ROMs, DVD-ROMs, ROMs, RAMs, EPROMs, EEPROMs, magnetic or optical cards, solid-state memory devices, or other devices suitable for storing electronic instructions. Other Types of Media/Machine Readable Media. Memory and/or data storage may also be provided, which in some cases may include a non-transitory machine-readable storage medium containing executable program instructions configured for execution by a processor, controller/control unit, or the like.

System 305 also includes a fused tracking module 380 that may be configured to receive data from modules 310 and 350 and to fuse data from detected and/or tracked objects by processing the combined data. Controller 340 may be configured to process data from fused tracking module 380 . Of course, any suitable number of controllers and/or processors may be used as desired, as will be understood by those of ordinary skill in the art.

FIG. 4 is a flowchart depicting an example of a method 400 for detecting remote objects within a host vehicle, according to some implementations. As shown in the figure, method 400 may begin at step 405, at which point a first set of sensory data may be generated and/or received using a first object sensor, such as a radar sensor, lidar sensor, camera, or the like. Similarly, at step 410, a second object sensor may be used to generate and/or receive a second set of sensory data, which in some implementations may be different from the first object sensor. In some implementations, steps 405 and/or 410 can include receiving raw data from one or both of these sensors.

Step 415 may include detecting one or more objects using one or both of the object sensors. In some implementations, step 415 may be performed using, for example, a detection module such as detection module 120/160 or 320/360. Upon detection of an object using data from a given sensor, method 400 may then include, at 420 , changing one or more settings of the sensor and/or modules associated with the non-detecting sensor. Thus, for example, if the first object sensor has detected an object, step 420 may include changing the operating parameters and/or settings of the second object sensor or one or more modules associated with the second object sensor to increase the number of objects also detected by the second object sensor. Likelihood of being detected by the second object sensor. In preferred embodiments and implementations, step 420 may involve temporarily changing such parameters and/or settings. This setting/parameter may then be reset to its original state after eg a predetermined period of time or after objects are no longer detected and/or tracked.

In some implementations, step 420 may include changing the threshold of the non-detecting object sensor. In some such implementations, step 420 may include lowering at least one of a detection threshold and a tracking threshold of a non-detecting object sensor or otherwise lowering at least one of a detection threshold and a tracking threshold associated with a non-detecting object sensor, In some such implementations, step 420 may include reducing at least one of a signal-to-noise ratio of the non-detection sensor and a tracking threshold for initiating or maintaining tracking of an object of the non-detection sensor.

At step 425, it may be determined whether a non-detecting sensor (a sensor that initially did not detect an object) has detected an object detected by a detecting sensor within the changed settings/parameters. If not, then at 430 the previous settings of the non-detecting sensors and/or associated modules may be restored. Of course, as previously mentioned, in some implementations, a time limit may be imposed instead to maintain the lower threshold setting if desired, and if a non-detection sensor detects an object detected by a detection sensor, then at 435 one may use, for example A fusion tracking module etc. fuses data from two sensors. As another alternative, in some implementations, step 425 may include imposing a time limit for the non-detection sensor to detect an object detected by the detection sensor. If the time limit expires, method 400 may proceed to step 430 and one or more temporary setting changes may be reset. If an object is detected within this time limit, then at step 435 the objects detected by the two sensors may be fused by a fusion tracker or the like.

The foregoing specification has been described with reference to various embodiments and implementations. However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the present disclosure. For example, the various operational steps and the means for performing the operational steps may be implemented in various ways depending on the particular application or considering any number of cost functions associated with the operation of the system. Accordingly, any one or more of the steps may be deleted, modified or combined with other steps. Furthermore, the disclosure is to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within its scope. Likewise, benefits, other advantages, and solutions to problems have been described above with respect to various embodiments. However, benefits, advantages, solutions to problems, and any element or elements that may cause or make apparent any benefit, advantage or solution, should not be construed as a critical, required or essential feature or element.

Those skilled in the art will appreciate that many changes may be made to the details of the above-described embodiments without departing from the underlying principles of the invention. Accordingly, the scope of the invention should be determined only by the following claims.

Claims (15)

1. A method for remotely detecting an object from within a host vehicle, the method comprising the steps of:

generating a first set of sensed data using a first object sensor;

generating a second set of sensed data using a second object sensor;

detecting an object using the sensing data from the first object sensor;

when the object is detected using the sensing data from the first object sensor, changing a setting associated with the second object sensor to increase a likelihood of detecting the object using the second set of sensing data from the second object sensor, wherein the step of changing the setting associated with the second object sensor to increase the likelihood of detecting the object using the second set of sensing data from the second object sensor comprises: at least one of a detection threshold and a tracking threshold associated with the second object sensor is reduced only within an angular range associated with the detected object to increase a likelihood of detecting the object using the second set of sensed data from the second object sensor.

2. The method of claim 1, wherein the first object sensor comprises a different type of object sensor than the second object sensor.

3. The method of claim 2, wherein one of the first object sensor and the second object sensor comprises a radar sensor, and wherein the other of the first object sensor and the second object sensor comprises a camera.

4. The method of claim 1, wherein the step of changing settings associated with the second object sensor to increase a likelihood of detecting the object using the second set of sensed data from the second object sensor comprises: at least one of a detection threshold of the detection module and a tracking threshold of the tracking module is lowered.

5. The method of claim 4, wherein the step of changing settings associated with the second object sensor to increase a likelihood of detecting the object using the second set of sensed data from the second object sensor comprises: at least one of a signal-to-noise ratio of the detection module and a threshold of the tracking module for initiating or maintaining tracking of an object detected by the detection module is changed.

6. The method of claim 1, further comprising: upon detecting an object using the sensing data from the second object sensor, changing a setting associated with the first object sensor to increase a likelihood of detecting the object using the first set of sensing data from the first object sensor.

7. A system for remotely detecting an object from within a host vehicle, comprising:

a first object sensor configured to receive a first set of sensed data;

a second object sensor configured to receive a second set of sensed data;

an object detection module configured to receive data from the first object sensor, wherein the object detection module is configured to use sensed data from the first object sensor and the second object sensor to identify a remote object from within the host vehicle, wherein the system for remote detection is configured to: changing a setting associated with the second object sensor to increase a likelihood that the object detection module detects an object using the sensed data from the second object sensor when the object detection module detects the object using the first set of sensed data from the first object sensor, and wherein the system for remotely detecting is configured to: when the object detection module detects an object using the first set of sensed data from the first object sensor, at least one of a detection threshold and a tracker threshold associated with the second object sensor is reduced only within an angular range associated with the detected object to increase a likelihood of detecting the object using sensed data from the second object sensor.

8. The system of claim 7, wherein the object detection module is part of a first sensor module that includes the first object sensor.

9. The system of claim 8, wherein the first sensor module further comprises a first tracking module configured to receive processed data from the object detection module to track a remote object identified by the object detection module.

10. The system of claim 9, further comprising a second sensor module, wherein the second sensor module comprises the second object sensor, wherein the second sensor module further comprises a second object detection module configured to receive data from the second object sensor, wherein the second object detection module is configured to use the data from the second object sensor to identify a remote object from within the host vehicle, and wherein the second sensor module further comprises a second tracking module configured to receive processed data from the second object detection module to track the remote object identified by the second object detection module.

11. The system of claim 10, further comprising a fusion tracking module configured to receive data from both the first tracking module and the second tracking module to track objects detected by both the first tracking module and the second tracking module.

12. The system of claim 7, wherein the first object sensor comprises a camera, and wherein the second object sensor comprises a radar sensor.

13. The system of claim 7, wherein the system for remote detection is further configured to: when the object detection module detects an object using the second set of sensed data from the second object sensor, a setting associated with the first object sensor is changed to increase a likelihood that the object detection module detects the object using data from the first object sensor.

14. A system for remotely detecting an object from within a host vehicle, comprising:

a first object sensor configured to receive a first set of sensed data;

a second object sensor configured to receive a second set of sensed data, wherein the first object sensor comprises a different type of object sensor than the second object sensor;

a first object detection module configured to receive raw data from the first object sensor, wherein the first object detection module is configured to attempt to identify a remote object using the raw data from the first object sensor;

a second object detection module configured to receive raw data from the second object sensor, wherein the second object detection module is configured to attempt to identify a remote object using the raw data from the second object sensor;

a first tracking module configured to receive processed data from the first object detection module to track a remote object identified by the first object detection module;

a second tracking module configured to receive processed data from the second object detection module to track the remote object identified by the second object detection module; and

a fusion tracking module configured to receive data from both the first tracking module and the second tracking module to track objects detected by both the first tracking module and the second tracking module,

wherein the system for remote detection is configured to: upon confirming that at least one of the first object detection module and the first tracking module detects an object, at least one of a detection threshold of the second object detection module and a tracker threshold of the second tracking module is lowered only within an angular range associated with the detected object to increase a likelihood of detecting the object using data from the second object sensor.

15. The system of claim 14, wherein the first object sensor comprises a camera, and wherein the second object sensor comprises a radar sensor.